Yes, no problem as far as DIY. Parts are like $100 from the dealer. Get the whole thing (inner and outer) ... it's only a couple $ more, and might as well do both. Easy to do, but you need a pickle fork to seperate teh joint, and a thin, flat wrench (like a bike wrench) to get the inner nut off ... its pretty big, like 22mm or something. If can be done with vise grips, but you have to be careful.
2007 BMW 328Xi Touring, 6 speed